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- /* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
-
- This software may be distributed and modified under the terms of the GNU
- General Public License version 2 (GPL2) as published by the Free Software
- Foundation and appearing in the file GPL2.TXT included in the packaging of
- this file. Please note that GPL2 Section 2[b] requires that all works based
- on this software must also be made publicly available under the terms of
- the GPL2 ("Copyleft").
-
- Contact information
- -------------------
-
- Kristian Lauszus, TKJ Electronics
- Web : http://www.tkjelectronics.com
- e-mail : [email protected]
- */
-
- #ifndef _ps3usb_h_
- #define _ps3usb_h_
-
- #include "Usb.h"
- #include "hid.h"
- #include "PS3Enums.h"
-
- /* PS3 data taken from descriptors */
- #define EP_MAXPKTSIZE 64 // max size for data via USB
-
- /* Names we give to the 3 ps3 pipes - this is only used for setting the bluetooth address into the ps3 controllers */
- #define PS3_CONTROL_PIPE 0
- #define PS3_OUTPUT_PIPE 1
- #define PS3_INPUT_PIPE 2
-
- //PID and VID of the different devices
- #define PS3_VID 0x054C // Sony Corporation
- #define PS3_PID 0x0268 // PS3 Controller DualShock 3
- #define PS3NAVIGATION_PID 0x042F // Navigation controller
- #define PS3MOVE_PID 0x03D5 // Motion controller
-
- #define PS3_MAX_ENDPOINTS 3
-
- /**
- * This class implements support for all the official PS3 Controllers:
- * Dualshock 3, Navigation or a Motion controller via USB.
- *
- * One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB on the Move controller.
- *
- * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
- */
- class PS3USB : public USBDeviceConfig {
- public:
- /**
- * Constructor for the PS3USB class.
- * @param pUsb Pointer to USB class instance.
- * @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
- * Pass your dongles Bluetooth address into the constructor,
- * so you are able to pair the controller with a Bluetooth dongle.
- */
- PS3USB(USB *pUsb, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0);
-
- /** @name USBDeviceConfig implementation */
- /**
- * Initialize the PS3 Controller.
- * @param parent Hub number.
- * @param port Port number on the hub.
- * @param lowspeed Speed of the device.
- * @return 0 on success.
- */
- uint8_t Init(uint8_t parent, uint8_t port, bool lowspeed);
- /**
- * Release the USB device.
- * @return 0 on success.
- */
- uint8_t Release();
- /**
- * Poll the USB Input endpoins and run the state machines.
- * @return 0 on success.
- */
- uint8_t Poll();
-
- /**
- * Get the device address.
- * @return The device address.
- */
- virtual uint8_t GetAddress() {
- return bAddress;
- };
-
- /**
- * Used to check if the controller has been initialized.
- * @return True if it's ready.
- */
- virtual bool isReady() {
- return bPollEnable;
- };
-
- /**
- * Used by the USB core to check what this driver support.
- * @param vid The device's VID.
- * @param pid The device's PID.
- * @return Returns true if the device's VID and PID matches this driver.
- */
- virtual bool VIDPIDOK(uint16_t vid, uint16_t pid) {
- return (vid == PS3_VID && (pid == PS3_PID || pid == PS3NAVIGATION_PID || pid == PS3MOVE_PID));
- };
- /**@}*/
-
- /**
- * Used to set the Bluetooth address inside the Dualshock 3 and Navigation controller.
- * Set using LSB first.
- * @param bdaddr Your dongles Bluetooth address.
- */
- void setBdaddr(uint8_t *bdaddr);
- /**
- * Used to get the Bluetooth address inside the Dualshock 3 and Navigation controller.
- * Will return LSB first.
- * @param bdaddr Your dongles Bluetooth address.
- */
- void getBdaddr(uint8_t *bdaddr);
-
- /**
- * Used to set the Bluetooth address inside the Move controller.
- * Set using LSB first.
- * @param bdaddr Your dongles Bluetooth address.
- */
- void setMoveBdaddr(uint8_t *bdaddr);
- /**
- * Used to get the Bluetooth address inside the Move controller.
- * Will return LSB first.
- * @param bdaddr Your dongles Bluetooth address.
- */
- void getMoveBdaddr(uint8_t *bdaddr);
- /**
- * Used to get the calibration data inside the Move controller.
- * @param data Buffer to store data in. Must be at least 147 bytes
- */
- void getMoveCalibration(uint8_t *data);
-
- /** @name PS3 Controller functions */
- /**
- * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
- *
- * While getButtonClick(ButtonEnum b) will only return it once.
- *
- * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
- * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
- * @param b ::ButtonEnum to read.
- * @return getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
- */
- bool getButtonPress(ButtonEnum b);
- bool getButtonClick(ButtonEnum b);
- /**@}*/
- /** @name PS3 Controller functions */
- /**
- * Used to get the analog value from button presses.
- * @param a The ::ButtonEnum to read.
- * The supported buttons are:
- * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
- * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
- * @return Analog value in the range of 0-255.
- */
- uint8_t getAnalogButton(ButtonEnum a);
- /**
- * Used to read the analog joystick.
- * @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
- * @return Return the analog value in the range of 0-255.
- */
- uint8_t getAnalogHat(AnalogHatEnum a);
- /**
- * Used to read the sensors inside the Dualshock 3 controller.
- * @param a
- * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
- * @return Return the raw sensor value.
- */
- uint16_t getSensor(SensorEnum a);
- /**
- * Use this to get ::Pitch and ::Roll calculated using the accelerometer.
- * @param a Either ::Pitch or ::Roll.
- * @return Return the angle in the range of 0-360.
- */
- double getAngle(AngleEnum a);
- /**
- * Get the ::StatusEnum from the controller.
- * @param c The ::StatusEnum you want to read.
- * @return True if correct and false if not.
- */
- bool getStatus(StatusEnum c);
- /** Read all the available statuses from the controller and prints it as a nice formated string. */
- void printStatusString();
-
- /** Used to set all LEDs and rumble off. */
- void setAllOff();
- /** Turn off rumble. */
- void setRumbleOff();
- /**
- * Turn on rumble.
- * @param mode Either ::RumbleHigh or ::RumbleLow.
- */
- void setRumbleOn(RumbleEnum mode);
- /**
- * Turn on rumble using custom duration and power.
- * @param rightDuration The duration of the right/low rumble effect.
- * @param rightPower The intensity of the right/low rumble effect.
- * @param leftDuration The duration of the left/high rumble effect.
- * @param leftPower The intensity of the left/high rumble effect.
- */
- void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
-
- /**
- * Set LED value without using the ::LEDEnum.
- * @param value See: ::LEDEnum.
- */
- void setLedRaw(uint8_t value);
-
- /** Turn all LEDs off. */
- void setLedOff() {
- setLedRaw(0);
- }
- /**
- * Turn the specific ::LEDEnum off.
- * @param a The ::LEDEnum to turn off.
- */
- void setLedOff(LEDEnum a);
- /**
- * Turn the specific ::LEDEnum on.
- * @param a The ::LEDEnum to turn on.
- */
- void setLedOn(LEDEnum a);
- /**
- * Toggle the specific ::LEDEnum.
- * @param a The ::LEDEnum to toggle.
- */
- void setLedToggle(LEDEnum a);
-
- /**
- * Use this to set the Color using RGB values.
- * @param r,g,b RGB value.
- */
- void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
- /**
- * Use this to set the color using the predefined colors in ::ColorsEnum.
- * @param color The desired color.
- */
- void moveSetBulb(ColorsEnum color);
- /**
- * Set the rumble value inside the Move controller.
- * @param rumble The desired value in the range from 64-255.
- */
- void moveSetRumble(uint8_t rumble);
-
- /**
- * Used to call your own function when the controller is successfully initialized.
- * @param funcOnInit Function to call.
- */
- void attachOnInit(void (*funcOnInit)(void)) {
- pFuncOnInit = funcOnInit;
- };
- /**@}*/
-
- /** Variable used to indicate if the normal playstation controller is successfully connected. */
- bool PS3Connected;
- /** Variable used to indicate if the move controller is successfully connected. */
- bool PS3MoveConnected;
- /** Variable used to indicate if the navigation controller is successfully connected. */
- bool PS3NavigationConnected;
-
- protected:
- /** Pointer to USB class instance. */
- USB *pUsb;
- /** Device address. */
- uint8_t bAddress;
- /** Endpoint info structure. */
- EpInfo epInfo[PS3_MAX_ENDPOINTS];
-
- private:
- /**
- * Called when the controller is successfully initialized.
- * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
- * This is useful for instance if you want to set the LEDs in a specific way.
- */
- void onInit();
- void (*pFuncOnInit)(void); // Pointer to function called in onInit()
-
- bool bPollEnable;
-
- uint32_t timer; // used to continuously set PS3 Move controller Bulb and rumble values
-
- uint32_t ButtonState;
- uint32_t OldButtonState;
- uint32_t ButtonClickState;
-
- uint8_t my_bdaddr[6]; // Change to your dongles Bluetooth address in the constructor
- uint8_t readBuf[EP_MAXPKTSIZE]; // General purpose buffer for input data
- uint8_t writeBuf[EP_MAXPKTSIZE]; // General purpose buffer for output data
-
- void readReport(); // read incoming data
- void printReport(); // print incoming date - Uncomment for debugging
-
- /* Private commands */
- void PS3_Command(uint8_t *data, uint16_t nbytes);
- void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via USB
- void Move_Command(uint8_t *data, uint16_t nbytes);
- };
- #endif
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